U.S. patent number 9,778,743 [Application Number 14/258,644] was granted by the patent office on 2017-10-03 for gaming device having a haptic-enabled trigger.
This patent grant is currently assigned to Immersion Corporation. The grantee listed for this patent is Immersion Corporation. Invention is credited to Danny A. Grant, Aaron Kapelus.
United States Patent |
9,778,743 |
Grant , et al. |
October 3, 2017 |
Gaming device having a haptic-enabled trigger
Abstract
A haptic peripheral comprising a housing, a user input element,
a position sensor coupled to the user input element, and an
actuator located within the housing and coupled to the user input
element. The position sensor is configured to detect a position of
the user input element and is configured to send the position to a
processor. The actuator is configured to receive a haptic effect
drive signal from the processor and is configured to output a force
in response to the haptic effect drive signal from the processor.
The force is transmitted to the user input element as a kinesthetic
haptic effect. The haptic peripheral may include a mechanical
amplification system coupled to the actuator and configured to
increase the force output by the actuator. In such an embodiment,
the increased force is transmitted from the mechanical
amplification system to the user input element as a kinesthetic
haptic effect. The user input element may be a button, joystick, or
trigger and is manipulated by a user to interact with a host
computer.
Inventors: |
Grant; Danny A. (Laval,
CA), Kapelus; Aaron (Montreal, CA) |
Applicant: |
Name |
City |
State |
Country |
Type |
Immersion Corporation |
San Jose |
CA |
US |
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Assignee: |
Immersion Corporation (San
Jose, CA)
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Family
ID: |
50549011 |
Appl.
No.: |
14/258,644 |
Filed: |
April 22, 2014 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20140315642 A1 |
Oct 23, 2014 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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61814628 |
Apr 22, 2013 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A63F
13/24 (20140902); A63F 13/50 (20140902); A63F
13/285 (20140902); A63F 13/212 (20140902); G06F
3/016 (20130101); A63F 2300/1037 (20130101) |
Current International
Class: |
G06F
3/01 (20060101); A63F 13/285 (20140101); A63F
13/20 (20140101); A63F 13/24 (20140101) |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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102974099 |
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Mar 2013 |
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CN |
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1 259 862 |
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Nov 2002 |
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EP |
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2492968 |
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Jan 2013 |
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GB |
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99/17850 |
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Apr 1999 |
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WO |
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2014/078902 |
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May 2014 |
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WO |
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Other References
Extended European Search Report issued in EP Application No. 14 165
388.1, dated Feb. 16, 2017. cited by applicant .
EP Appl. No. 14 165 388.1, Partial European Search Report, dated
Oct. 12, 2016. cited by applicant.
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Primary Examiner: Suhol; Dmitry
Assistant Examiner: Doshi; Ankit
Attorney, Agent or Firm: Medler Ferro Woodhouse Mills
PLLC
Parent Case Text
CROSS-REFERENCE TO RELATED APPLICATIONS
This application claims the benefit of U.S. Provisional Patent
Application Ser. No. 61/814,628, filed Apr. 22, 2013, which is
hereby incorporated by reference in its entirety for all purposes.
Claims
What is claimed is:
1. A haptic peripheral comprising: a housing; a user input element;
a position sensor coupled to the user input element, wherein the
position sensor is configured to detect a position of the user
input element and is configured to send the position to a
processor; an actuator located within the housing and coupled to
the user input element, wherein the actuator is configured to
receive a haptic effect drive signal from the processor and is
configured to output a force in response to the haptic effect drive
signal from the processor; and a mechanical amplification system
coupled to the actuator, the mechanical amplification system being
a gear system configured to increase the force output by the
actuator, wherein the increased force is transmitted from the
mechanical amplification system to the user input element as a
kinesthetic haptic effect.
2. The haptic peripheral of claim 1, wherein the user input element
is selected from the group consisting of a button, a trigger, and a
joystick.
3. The haptic peripheral of claim 1, wherein the processor is
located within the housing of the haptic peripheral.
4. The haptic peripheral of claim 1, wherein the processor is
remotely located from the housing of the haptic peripheral.
5. The haptic peripheral of claim 1, wherein the actuator is
coupled to the user input element via a rotatable shaft and wherein
the actuator applies the force output in response to the haptic
effect drive signal to the user input element via rotation of the
rotatable shaft.
6. The haptic peripheral of claim 1, wherein the actuator is a
bidirectional motor.
7. The haptic peripheral of claim 1, wherein the kinesthetic haptic
effect is selected from the group consisting of a detent, a
vibration, or a texture.
8. The haptic peripheral of claim 1, wherein the position sensor is
rotatable about an axis and is coupled to the user input element
via a lever arm.
9. The haptic peripheral of claim 1, wherein the haptic effect
drive signal is generated by the processor in response to the
position of the user input element.
10. The haptic peripheral of claim 1, further comprising: a rumble
actuator coupled to the housing, wherein the rumble actuator is
configured to receive a second haptic effect control signal from
the processor and output a second haptic effect to the housing in
response to the second haptic effect control signal received from
the processor.
11. The haptic peripheral of claim 1, wherein a first position of
the user input element results in the actuator generating and
applying a first force output in response to a first haptic effect
drive signal to the user input element and a second position of the
user input element results in the actuator generating and applying
a second force output in response to a second haptic effect drive
signal to the user input element, the first position being
different than the second position and the first haptic effect
drive signal being different than the second haptic effect drive
signal.
12. A haptic peripheral comprising: a housing; a trigger which is
rotatable about an axis; a lever arm having a hinged first end and
a moveable second end, wherein the trigger is attached to the
moveable second end of the lever arm; a position sensor attached to
the hinged first end of the lever arm, wherein the position sensor
is configured to detect a change in a rotational position of the
trigger as a movement event and is configured to send the movement
event to a processor; a bidirectional motor located within the
housing, wherein the bidirectional motor is configured to receive a
haptic effect drive signal from the processor and is configured to
output a force in response to the haptic effect drive signal from
the processor; a rotatable shaft attached to the bidirectional
motor and extending therefrom to the hinged first end of the lever
arm, wherein the rotatable shaft is attached to the hinged first
end of the lever arm such that rotation of the rotatable shaft
causes movement of the lever arm and the trigger; and a gear system
disposed between the bidirectional motor and the rotatable shaft,
the gear system being configured to increase the force output by
the bidirectional motor, wherein the increased force is transmitted
from the gear system to the trigger as a kinesthetic haptic
effect.
13. A gaming system comprising: a host computer; a processor; a
controller having a housing, a user input element, and a position
sensor coupled to the user input element; and an actuator coupled
to the user input element via a mechanical amplification system,
the mechanical amplification system being a gear system, wherein
the position sensor is configured to detect a position of the user
input element and send the position to the processor, the actuator
is configured to receive a haptic effect drive signal from the
processor and is configured to output a force in response to the
haptic effect drive signal from the processor, and the mechanical
amplification system is configured to increase the force output by
the actuator, the increased force being transmitted from the
mechanical amplification system to the user input element as a
kinesthetic haptic effect.
14. The gaming system of claim 13, wherein the host computer is a
tablet computer and the controller includes a handle and a docking
station adapted to receive the tablet computer therein, wherein the
user input element is disposed on the handle.
15. The gaming system of claim 13, wherein the processor is
disposed in the controller.
16. The gaming system of claim 13, wherein the processor is
disposed in the host computer.
17. The gaming system of claim 13, wherein the user input element
is selected from the group consisting of a button, a trigger, and a
joystick.
18. The gaming system of claim 13, wherein the controller also
includes a rumble actuator coupled to the housing, wherein the
rumble actuator is configured to receive a second haptic effect
control signal from the processor and output a second haptic effect
to the housing in response to a second haptic effect control signal
received from the processor.
Description
FIELD OF THE INVENTION
Embodiments hereof relate to devices with targeted actuators
coupled to user input elements such that the haptic effect is
directed to the user input elements.
BACKGROUND OF THE INVENTION
Video games and video game systems have become even more popular
due to the marketing toward, and resulting participation from,
casual gamers. Conventional video game devices or controllers use
visual and auditory cues to provide feedback to a user. In some
interface devices, kinesthetic feedback (such as active and
resistive force feedback) and/or tactile feedback (such as
vibration, texture, and heat) is also provided to the user, more
generally known collectively as "haptic feedback" or "haptic
effects". Haptic feedback can provide cues that enhance and
simplify the user interface. Specifically, vibration effects, or
vibrotactile haptic effects, may be useful in providing cues to
users of electronic devices to alert the user to specific events,
or provide realistic feedback to create greater sensory immersion
within a simulated or virtual environment.
Other devices, such as medical devices, automotive controls, remote
controls, and other similar devices wherein a user interacts with a
user input elements to cause an action also benefit from haptic
feedback or haptic effects. For example, and not by way of
limitation, user input elements on medical devices may be operated
by a user outside the body of a patient at a proximal portion of a
medical device to cause an action within the patient's body at a
distal end of the medical device. Haptic feedback or haptic effects
may be employed devices to alert the user to specific events, or
provide realistic feedback to user regarding interaction of the
medical device with the patient at the distal end of the medical
device.
Conventional haptic feedback systems for gaming and other devices
generally include one or more actuators attached to the housing of
the controller for generating the haptic feedback. However, these
conventional haptic feedback systems create a haptic sensation
along the entire body of the controller. Such a device does not
provide a targeted or directed haptic sensation to the user for
specific actions or locations.
Embodiments hereof relate to a haptic feedback system that provides
a kinesthetic haptic effect to the user input element. Further,
embodiments hereof relate to a haptic feedback system which
produces haptic effects to the user input element that are
discernible or distinguishable from general haptic effects produced
along the entire body of the device/controller.
BRIEF SUMMARY OF THE INVENTION
Embodiments hereof are directed to a haptic peripheral including a
housing, a user input element, a position sensor coupled to the
user input element, and an actuator located within the housing and
coupled to the user input element. The position sensor is
configured to detect a position of the user input element and is
configured to send the position to a processor. The actuator is
configured to receive a haptic effect drive signal from the
processor and is configured to output a force in response to the
haptic effect drive signal from the processor. The force is
transmitted to the user input element as a kinesthetic haptic
effect. The haptic peripheral may include a mechanical
amplification system coupled to the actuator and configured to
increase the force output by the actuator. In such an embodiment,
the increased force is transmitted from the mechanical
amplification system to the user input element as a kinesthetic
haptic effect.
The haptic peripheral may be a game controller, tablet, phone,
personal digital assistant (PDA), computer, gaming peripheral,
mouse, wearable user items including an input device, or other
devices which include user input elements. The housing of the
haptic peripheral is adapted to be held by a user. The user input
element may be a button, joystick, or trigger and is manipulated by
a user to interact with ahost computer. The processor may be
disposed in the host computer or in the controller.
BRIEF DESCRIPTION OF DRAWINGS
The foregoing and other features and advantages of the invention
will be apparent from the following description of embodiments
hereof as illustrated in the accompanying drawings. The
accompanying drawings, which are incorporated herein and form a
part of the specification, further serve to explain the principles
of the invention and to enable a person skilled in the pertinent
art to make and use the invention. The drawings are not to
scale.
FIG. 1 is a schematic illustration of an embodiment of a
controller.
FIG. 2 is a schematic illustration of another view of the
controller of FIG. 1.
FIG. 3 is a block diagram of the controller of FIG. 1 in
conjunction with a host computer and display.
FIG. 4 is a schematic illustration of a portion of the controller
of FIG. 1, wherein a housing of the controller is removed to
illustrate the internal components thereof.
FIG. 5 is a schematic illustration of a portion of a controller
according to another embodiment hereof, wherein a housing of the
controller is removed to illustrate the internal components
thereof.
FIG. 6 is a schematic illustration of an embodiment of a gaming
tablet.
FIG. 7 is a block diagram of the gaming table of FIG. 6.
FIG. 8 is a flow chart illustrating a method for determining and
transmitting a haptic signal from a host device according to an
embodiment hereof.
FIG. 9 is a flow chart illustrating a method for providing haptic
effects to a user of a controller according to an embodiment
hereof.
DETAILED DESCRIPTION OF THE INVENTION
Specific embodiments of the present invention are now described
with reference to the figures, wherein like reference numbers
indicate identical or functionally similar elements.
The following detailed description is merely exemplary in nature
and is not intended to limit the invention or the application and
uses of the invention. Furthermore, there is no intention to be
bound by any expressed or implied theory presented in the preceding
technical field, background, brief summary or the following
detailed description. Furthermore, although the following
description is directed to gaming devices and controllers for
gaming devices, those skilled in the art would recognize that the
description applies equally to other devices having user input
elements.
Embodiments hereof relate to a haptic peripheral of a haptic
feedback system, the haptic peripheral including a targeted
actuator or motor coupled to a user input element for providing
targeted or directed kinesthetic haptic effects directly to the
user input element. As used herein, "kinesthetic" haptic effects
includes effects in which the targeted actuator applies force to
the user input element to move the user input element in directions
it would be moved by the user (active of resistive force feedback),
thereby resulting in kinesthetic haptic effects that are felt by
the user. Kinesthetic haptic effects are distinguishable from
inertial haptic effects, in which an inertial actuator outputs or
creates a force that may be indirectly felt by the user, i.e., the
target is not moved by the actuator but the output force may be
indirectly perceived or felt by the user. One haptic feedback
system that provides inertial haptic effects to a user input device
is disclosed in U.S. patent application Ser. No. 14/078,478, filed
Nov. 12, 2013 by one of the same inventors as the present
invention, herein incorporated by reference in its entirety. This
system describes an inertial actuator attached to the user input
element for providing inertial transient effects such as detents or
vibrations to the user input element. In order to isolate the
inertial haptic effects to a targeted region of the user input
element, a vibration isolation/dampening device is utilized with
the inertial actuator. Kinesthetic haptic effects as produced by
embodiments hereof, however, are felt by the user because the
actuator directly drives or pushes/pulls on the user input element
to cause movement thereof. In addition, kinesthetic haptic effects
produced on user input elements as disclosed in embodiments hereof
are discernible or distinguishable from general haptic effects,
also referred to as rumble effects, produced along the entire body
or housing of the haptic peripheral. The haptic peripheral may be,
for example, a handheld gaming controller 100 for a gaming system
as shown in FIGS. 1-2, a gaming tablet controller 600 as shown in
FIG. 6, or other controllers that having user input (UI) elements
such as, but not limited to, phones, personal digital assistants
(PDA), tablets, computers, gaming peripherals, and other
controllers for gaming systems known to those skilled in the
art.
Controller 100 may be generally used with a gaming system that may
be connected to a computer, mobile phone, television, or other
similar device. FIGS. 1-2 illustrate different perspective views of
controller 100, while FIG. 3 illustrates a block diagram of
controller 100 used in a gaming system 101 that further includes a
host computer 104 and a display 106. As shown in the block diagram
of FIG. 3, controller 100 includes a local processor 108 which
communicates with host computer 104 via a connection 105.
Connection 105 may be a wired connection, a wireless connection, or
other types of connections known to those skilled in the art.
Controller 100 may be alternatively configured to not include local
processor 108, whereby all input/output signals from controller 100
are handled and processed directly by host computer 104. Host
computer 104 is coupled to display screen 106. In an embodiment,
host computer 104 is a gaming device console and display screen 106
is a monitor which is coupled to the gaming device console, as
known in the art. In another embodiment, as known to those skilled
in the art, host computer 104 and display screen 106 may be
combined into a single device.
A housing 102 of controller 100 is shaped to easily accommodate two
hands gripping the device, either by a left-handed user or a
right-handed user. Those skilled in the art would recognize that
controller 100 is merely an exemplary embodiment of a controller of
similar shape and size to many "gamepads" currently available for
video game console systems, and that controllers with other
configurations of user input elements, shapes, and sizes may be
used, including but not limited to controllers such as a Wii.TM.
remote or Wii.TM. U controller, Sony.RTM. SixAxis.TM. controller or
Sony.RTM. Wand controller, as well as controllers shaped as real
life objects (such as tennis rackets, golf clubs, baseball bats,
and the like) and other shapes.
Controller 100 includes several user input elements or
manipulandums, including a joystick 110, a button 114, and a
trigger 118. As used herein, user input element refers to an
interface device such as a trigger, button, joystick, or the like,
which is manipulated by the user to interact with host computer
104. As can be seen in FIGS. 1-2 and known to those skilled in the
art, more than one of each user input element and additional user
input elements may be included on controller 100. Accordingly, the
present description of a trigger 118, for example, does not limit
controller 100 to a single trigger. Further, the block diagram of
FIG. 3 shows only one (1) of each of joystick 110, button 114, and
trigger 118. However, those skilled in the art would understand
that multiple joysticks, buttons, and triggers, as well as other
user input elements, may be used, as described above.
As can be seen in the block diagram of FIG. 3, controller 100
includes a targeted actuator or motor to directly drive each of the
user input elements thereof as well as one or more general or
rumble actuators 122, 124 coupled to housing 102 in a location
where a hand of the user is generally located. More particularly,
joystick 110 includes a targeted actuator or motor 112 coupled
thereto, button 114 includes a targeted actuator or motor 116
coupled thereto, and trigger 118 includes a targeted actuator or
motor 120 coupled thereto. In addition to a plurality of targeted
actuators, controller 100 includes a position sensor coupled to
each of the user input elements thereof. More particularly,
joystick 110 includes a position sensor 111 coupled thereto, button
114 includes a position sensor 115 coupled thereto, and trigger 118
includes a position sensor 119 coupled thereto. Local processor 108
is coupled to targeted actuators 112, 116, 120 as well as position
sensors 111, 115, 119 of joystick 110, button 114, and trigger 118,
respectively. As will be described in more detail herein, in
response to signals received from position sensors 111, 115, 119,
local processor 108 instructs targeted actuators 112, 116, 120 to
provide directed or targeted kinesthetic effects directly to
joystick 110, button 114, and trigger 118, respectively. Such
targeted kinesthetic effects are discernible or distinguishable
from general or rumble haptic effects produced by general actuators
122, 124 along the entire body of the controller. The collective
haptic effects provide the user with a greater sense of immersion
to the game as multiple modalities are being simultaneously
engaged, e.g., video, audio, and haptics.
Turning now to FIG. 4, which is a schematic illustration of a
portion of controller 100 with housing 102 removed to illustrate
the internal components thereof, the structural relationship
between trigger 118, position sensor 119, and targeted actuator or
motor 120 will be described in more detail. Although not shown, it
will be understood by those of ordinary skill in the art that
trigger 118, position sensor 119, and targeted actuator or motor
120 are positioned or housed within housing 102. Further, although
only trigger 118 is shown in FIG. 4, those skilled in the art would
understand that a similar structural relationship may be used with
respect to joystick 110, position sensor 111, and targeted actuator
or motor 112 as well as to button 114, position sensor 115, and
targeted actuator or motor 116 in order to produce targeted or
directed haptic effects to the selected user input element.
Position sensor 119 is configured to detect a position of trigger
118 and is configured to send the position to local processor 108
(not shown in FIG. 4). In the embodiment of FIG. 4, trigger 118
includes a spring element 117 housed therein that returns the
trigger to a nominal position without user force applied thereto.
Position sensor 119 is coupled to trigger 118 via a lever arm 126
having a hinged first end 125 and a moveable second end 127.
Trigger 118 is attached to moveable second end 127 of lever arm
126, and position sensor 119 is attached to hinged first end 125 of
lever arm 126. When a user moves or presses on trigger 118, spring
element 117 compresses and trigger 118 rotates around or about a
trigger axis T.sub.A. Second end 127 of lever arm 126 also moves or
rotates with trigger 118 and lever arm 126 rotates around or about
hinged first end 125. Position sensor 119 detects a change in the
rotational position of lever arm 126 and trigger 118 as a movement
event, and sends the movement event to local processor 108. As will
be explained in more detail herein, different trigger positions and
movement events may result in different haptic effects being
applied by targeted actuator or motor 120. In an embodiment,
position sensor 119 is a potentiometer but may be other types of
position sensors known in the art such as but not limited to
optical sensors, optical encoders, hall-effect sensors, capacitive
sensors, and the like. In another embodiment hereof (not shown),
position sensor 119 may be coupled directly to trigger 118 without
a lever arm extending therebetween.
Although position sensor 119 detects a change in the rotational
position of lever arm 126 and trigger 118, it will be understood by
one of ordinary skill in the art that position sensors 115, 111
coupled to button 114, joystick 110, respectively, would be
configured to detect movement events of the particular user input
element rather than rotational movement as shown with respect to
trigger 118. For example, position sensor 115 of button 114 would
be configured to detect linear motion or translation of button 114,
i.e., when button 114 is pressed down. Position sensor 111 of
joystick 110 would be configured to detect motion of joystick 110
within one or more degrees of freedom, i.e., when joystick 110 is
physically moved forward, backwards, left or right.
Targeted actuator or motor 120 is coupled to trigger 118 via a
rotatable shaft 128. More particularly, rotatable shaft 128 is
attached to targeted actuator 120 and extends therefrom to first
end 125 of lever arm 126. Rotatable shaft 128 is attached to first
end 125 of lever arm 126 such that rotation of shaft 128 causes
movement of lever arm 126. Targeted actuator 120 receives a haptic
effect drive signal from local processor 108 (not shown in FIG. 4),
the haptic effect drive signal having been generated in response to
the position of trigger 118 as measured by position sensor 119.
Targeted actuator 120 then outputs a haptic effect to trigger 118
in response to the haptic effect drive signal from local processor
108. More particularly, targeted actuator 120 directly drives or
causes actuation or rotation of rotatable shaft 128. Rotation of
rotatable shaft 128 also causes rotation and movement of lever arm
126 and trigger 118, with the movement of trigger 118 being felt by
the user. Thus, actuation or rotation of rotatable shaft 128 is
transferred to trigger 118.
In an embodiment hereof, targeted actuator 120 is a bidirectional
motor that may push and pull trigger 118, i.e., move trigger 118 in
opposing directions. In addition to a motor, targeted actuator 120
may be shape memory alloys, electro-active polymers that deform in
response to signals, mechanisms for changing stiffness,
vibrotactile actuators, inertial actuators, piezoelectric
actuators, or other types of actuating devices suitable for
producing kinesthetic haptic effects directly to the user input
element. In an embodiment, targeted actuator 120 is a 16 mm Maxon
motor but may be other types of brushed and brushless electric DC
motors known and available in the art. The stall torque of targeted
actuator 120 determines the maximum amount of force that can be
applied to trigger 118, with stall torque being measured as the
maximum force of targeted actuator 120 from rest. Targeted actuator
120 may have a stall torque between 0.5 mNm and 40 mNm. In an
embodiment hereof, targeted actuator 120 has a stall torque of 34.5
mNm when driven at 12V or a stall torque of 14.4 mNm when driven at
5V. As will be understood by those of ordinary skill in the art,
strong or high torque motors may produce relatively stronger haptic
effects that may be clearly felt and differentiated from general or
rumble haptic effects. In addition, high torque motors (such as a
motor having a stall torque of 34.5 mNm when driven at 12V or a
stall torque of 14.4 mNm when driven at 5V) may produce a wider
range of haptic effects that may be clearly felt and differentiated
from each other on trigger 118 without mechanical amplification.
However, weak or low torque motors are generally less expensive and
smaller in size. As will be explained in more detail below with
respect to FIG. 5, mechanical amplification such as a gear system
may be utilized with a low torque motor to produce stronger haptic
effects as well as a wider range of haptic effects.
In operation, local processor 108 detects or receives trigger
positions and/or movement events from position sensor 119 and sends
the trigger positions and/or movement events to host computer 104.
Local processor 108 then provides haptic effect drive signals to
targeted actuator 120 based on high level supervisory or streaming
commands from host computer 104. For example, when in operation,
voltage magnitudes and durations are streamed from host computer
104 to controller 100 where information is provided to targeted
actuator 120 via local processor 108. Host computer 104 may provide
high level commands to local processor 108 such as the type of
haptic effect to be output (e.g. vibration, jolt, detent, pop,
etc.) by targeted actuator 120, whereby the local processor 108
instructs targeted actuator 120 as to particular characteristics of
the haptic effect which is to be output (e.g. magnitude, frequency,
duration, etc.). Local processor 108 may retrieve the type,
magnitude, frequency, duration, or other characteristics of the
haptic effect from a memory 109 coupled thereto (shown in the block
diagram of FIG. 3).
A wide variety of kinesthetic haptic effects or sensations may be
output to trigger 118. More particularly, targeted actuator 120
directly drives or pushes/pulls on trigger 118 to cause movement
thereof. Targeted actuator 120 may output resistive force on
trigger 118, thereby making it more difficult for a user to press
down on trigger 118. Such resistive force may be variable, i.e.,
vary according to trigger position or user actions in a video game.
In an embodiment hereof, targeted actuator 120 may output a maximum
resistive force which impedes all user motion in a lock-out mode of
trigger 118. In another example, targeted actuator 120 may output a
detent on trigger 118 by outputting a resistive force on trigger
118 which is removed at one or more particular trigger positions or
locations. As such, the detent felt by the user resembles a button
click. In yet another embodiment hereof, targeted actuator 120 may
output a vibration on trigger 118 by rapidly pushing and pulling
trigger 118 back and forth.
In an embodiment hereof, the kinesthetic haptic effects described
above are transient, short haptic effects meaning that they are
only temporary and of short duration. For example, such effects may
each have a duration between 10 milliseconds and 100 milliseconds.
As such, targeted actuator 120 has lower power and limited output
compared to actuators utilized in full kinesthetic joysticks. Full
kinesthetic joysticks continuously consume power in order to
provide haptic effects to the joystick. However, a controller
having a targeted actuator for providing kinesthetic haptic effects
directly to the user input element as described above only consumes
power when the haptic effects needs to be applied or changed.
Stated another way, with respect to a controller having a targeted
actuator for providing transient kinesthetic haptic effects
directly to the user input element according to embodiments hereof
energy is only required from targeted actuator 120 when the haptic
effects needs to be applied or changed as opposed to a full
kinesthetic joystick in which power or energy is directly or
continuously supplied to render the haptic effects relating to the
joystick. As such, a controller having a targeted actuator for
providing transient kinesthetic haptic effects directly to the user
input element according to embodiments hereof has relatively lower
power requirements, thereby reducing cost, volume, and power
consumption. In addition, the size of the actuators utilized in
embodiments hereof are relative smaller and less expensive than
those utilized in full kinesthetic joysticks as they require less
peak power to be delivered.
Exemplary applications in which targeted haptic feedback is
advantageous include a first person shooter video game or a racing
video game. In such video games, targeted actuator 120 may output a
haptic effect such as a vibration, jolt or pop when the user hits
the target in the shooter video game example or passes a milestone
or marker in the racing video game example. In another example,
targeted actuator 120 may output a detent at variable locations in
the racing video game example or a detent as feedback for repeat
firing in the shooter video game example. Texture feedback may be
created with position dependent haptic algorithms such as but not
limited to granular synthesis. In another example, targeted
actuator 120 may be used output haptic feedback to indicate a
status of the video game such as out of ammunition, incorrect range
of a weapon, which weapon is being used, and/or firing rates. In a
video game in which multiple weapons may be utilized, such status
indications assist a user in learning the optimal firing rate and
trigger position/point for each weapon. Other examples include that
targeted actuator 120 may output detents at variable trigger
positions or locations, may output a programmable "feel" or
resistance for each weapon, may output firing results in feedback,
may output brake or throttle feedback by increasing or decreasing
the applied resistance, may output texture feedback, may increase
or decrease stiffness of spring 117 and therefore trigger 118, and
may simulate inertia.
As previously stated, different trigger positions and movement
events may result in different kinesthetic haptic effects being
applied by targeted actuator 120. For example, a first position of
trigger 118 results in targeted actuator 120 generating and
applying a first haptic effect drive signal to trigger 118, while a
second position of trigger 118 results in targeted actuator 120
generating and applying a second haptic effect drive signal to
trigger 118. More particularly, depending on game actions and the
position of trigger 118 as indicated by position sensor 119, local
processor 108 may send a haptic effect drive signal to targeted
actuator 120 to output one of a wide variety of haptic effects or
sensations, including vibrations, detents, textures, jolts or pops.
Further, the strength or level of the haptic effect or sensation
may vary depending on the position of trigger 118 as indicated by
position sensor 119.
Kinesthetic haptic effects may also vary according to user input
element. For example, some shooting games include two triggers
having separate or corresponding targeted actuators. A first haptic
effect drive signal may be applied to a first trigger by a first
targeted actuator and a second haptic effect drive signal may be
applied to a second trigger by a second targeted actuator. For
example, in some video games such as but not limited to Titanfall,
the haptic effect drive signals for each trigger (i.e., the left
trigger and the right trigger) correspond to different types of
weapons that are being held by the left and right hand of the
computer controlled character or object. In another example, the
haptic effect drive signals for each trigger (i.e., the left
trigger and the right trigger) correspond to directional events
happening to the left and right sides of the computer controlled
character or object (i.e., a left side of the character is bumped
or hit by something in the video game).
Advantageously, targeted actuator 120 provides a variety of
kinesthetic haptic effects or sensations to trigger 118 that are
independent of and complementary to general or rumble haptic
feedback produced by general actuators 122, 124. General actuators
122, 124 are coupled to housing 102 of controller 100, and serve to
provide the entire housing of controller 100 with general or rumble
haptic feedback. General actuators 122, 124 are coupled to and
receive control signals from processor 108 in a manner similar to
targeted actuator or motor 120 in which local processor 108
provides haptic effect control signals to general actuators 122,
124 based on high level supervisory or streaming commands from host
computer 104. For example, when in operation, voltage magnitudes
and durations are streamed from host computer 104 to controller 100
where information is provided to general actuators 122, 124 via
local processor 108. Host computer 104 may provide high level
commands to local processor 108 such as the type of haptic effect
to be output (e.g. vibration, jolt, detent, pop, etc.) by general
actuators 122, 124, whereby the local processor 108 instructs
general actuators 122, 124 as to particular characteristics of the
haptic effect which is to be output (e.g. magnitude, frequency,
duration, etc.).
General actuators 122, 124 may include electromagnetic motors,
eccentric rotating mass ("ERM") actuators in which an eccentric
mass is moved by a motor, linear resonant actuators ("LRAs") in
which a mass attached to a spring is driven back and forth, shape
memory alloys, electro-active polymers that deform in response to
signals, mechanisms for changing stiffness, vibrotactile actuators,
inertial actuators, piezoelectric actuators, or other suitable
types of actuating devices. In one embodiment, actuators 122, 124
can be implemented as an inertial actuator to provide vibrotactile
feedback to the user. In another embodiment, the actuators may use
kinesthetic haptic feedback including, for example, solenoids to
change the stiffness/damping of housing 202, small air bags that
change size in housing 202, or shape changing materials.
As stated above, in embodiments hereof in which a low stall torque
motor is utilized as a targeted actuator, mechanical amplification
such as a gear system may be utilized to produce sufficient haptic
effects that can be felt by the user. FIG. 5 illustrates another
embodiment hereof in which a controller 500 includes a gear
mechanism 530 to increase stall torque and haptic strength of a
targeted actuator or motor 520. In addition to motor 520 and gear
mechanism 530, controller 500 includes trigger 518, position sensor
519, and a processor (not shown in FIG. 5) for receiving the
trigger position and movement events from position sensor 519 and
outputting haptic effect drive signals to motor 520. Although not
shown, it will be understood by those of ordinary skill in the art
that a trigger 518, position sensor 519, and targeted actuator or
motor 520 are positioned or housed within a housing. Similar to
FIG. 4, FIG. 5 is a schematic illustration of a portion of a
controller 500 within a housing thereof removed to illustrate the
internal components of the controller.
Gear mechanism 530 includes at least a first rotatable gear 532
having teeth or cogs 534 around an outer circumference thereof and
a second rotatable gear 536 having teeth or cogs 538 around an
outer circumference thereof. First gear 532 is coupled to motor 520
via a first rotatable shaft 529, which is attached to and extends
from motor 520. Second gear 536 is coupled to a first end 525 of a
lever arm 526, which is attached to trigger 518, via a second
rotatable shaft 528. First gear 532 is relatively smaller than
second gear 534, and teeth 534 of first gear 532 mesh with teeth
538 of second gear 536. As will be understood by those of ordinary
skill in the art, gears 532, 536 produce a mechanical advantage
through a gear ratio in order to change or increase the torque
produced from motor 520. A high gear ratio of gear mechanism 530
result in high increases or changes in the motor stall torque,
which corresponds to an increase in transmission forces from motor
520. However, high gear ratios also result in high inertia in the
output of gear mechanism 530, which may reduce system response time
and perception of haptic effects. Thus, various factors including
cost, size, desired stall torque, desired response time, and
desired strength of the haptic effects must be considered when
selecting motor 520 and the corresponding gear ratio required for
gear mechanism 530. In an embodiment hereof, a gear ratio between
2:1 to 28:1 is used. For example, a gear ration of 9:1 is required
for a motor having 2.1 mNm stall torque. Although FIG. 5
illustrates a gear mechanism as means for mechanical amplification
of a low stall torque motor, other means of mechanical
amplification may be utilized such as but not limited to pulley
mechanisms.
Several embodiments are specifically illustrated and/or described
herein. However, it will be appreciated that modifications and
variations of the disclosed embodiments are covered by the above
teachings and within the purview of the appended claims without
departing from the spirit and intended scope of the invention. For
example, FIGS. 1-3 illustrate a haptic peripheral which is a
handheld gaming controller of similar shape and size to many
"gamepads" currently available for video game console systems.
However, those skilled in the art would recognize that the
controller is merely an exemplary embodiment of a haptic peripheral
and that haptic peripherals with other configurations, shapes, and
sizes may be used. For example, FIGS. 6-7 illustrate another
embodiment hereof in which the haptic peripheral is a gaming tablet
controller 600 that may be used with a tablet computer 604. Tablet
computer 604 may be designed specifically for gaming activities,
such as is available from Razer Inc., or may be a tablet computer
well known and available in the market, such as an Apple.RTM.
Ipad.RTM., Kindle.RTM. Fire.RTM., and Samsung.RTM. Galaxy
Tab.RTM..
Gaming tablet controller 600 includes a docking portion 605
configured to receive tablet computer 604 and handles 640, 642 with
user input elements disposed thereon for a user to control a game
on tablet computer 604. Docking portion 605 connects gaming tablet
controller 600 to tablet computer 604 such that actions by the user
on handles 640, 642 such as pressing buttons, moving joysticks,
pressing triggers, etc., result in actions on the game being played
on tablet computer 604.
Handles 640, 642 include typical user input elements found on
controllers. The user input elements will be described with respect
to handle 642. However, those skilled in the art would recognize
that the same or similar user input elements may be used on handle
640. In particular, handle 642 includes a joystick 610, a button
614, and a trigger 618. As can be seen in FIG. 6 and known to those
skilled in the art, more than one of each of these user input
elements may be included on each handle 640, 642. Further, handle
642 includes a general or rumble actuator 624 attached thereto in a
location where a hand of the user is generally located for
providing general or rumble haptic effects to gaming tablet
controller 600 as described above with respect to general or rumble
actuators 122, 124.
FIG. 7 illustrates a block diagram of the gaming tablet controller
of FIG. 6 in accordance with an embodiment. As shown in FIG. 7,
gaming tablet controller 600 includes a local processor 608 which
communicates with tablet computer 604 via docking portion 605.
Other connections, such as wired or wireless connections, may be
used instead of docking portion 605. Tablet computer 604 in this
embodiment includes a display screen. Gaming tablet controller 600
may be alternatively configured to not include local processor 608,
whereby all input/output signals from gaming tablet controller 600
are handled and processed directly by tablet computer 604.
Local processor 608 is coupled to joystick 610, button 614, and
trigger 618, and to position sensors 611, 615, and 619 that may be
coupled to joystick 610, buttons 614, and trigger 618,
respectively. The block diagram of FIG. 7 shows only one (1) of
each of joystick 610, button 614, and trigger 618. However, those
skilled in the art would understand that multiple joysticks,
buttons, and triggers, as well as other user input elements, may be
used, as described above. Targeted actuators or motors 612, 616,
and 620 are coupled to joystick 610, button 614, and trigger 618,
respectively. Targeted actuators 612, 616, 620 and general
actuators 622, 624 are also coupled to local processor 608, which
provides haptic effect drive signals to the actuators 612, 616,
620, 622, 624 based on high level supervisory or streaming commands
from tablet computer 604. In the streaming embodiment, the voltage
magnitudes and durations are streamed to gaming tablet controller
600 where information is provided by the tablet computer 604 to the
actuators. In operation, tablet computer 604 may provide high level
commands to the local processor 608 such as the type of haptic
effect to be output (e.g. vibration, jolt, detent, pop, etc.) by
one or more selected actuators, whereby local processor 608
instructs the actuator as to particular characteristics of the
haptic effect which is to be output (e.g. magnitude, frequency,
duration, etc.). Local processor 608 may retrieve the type,
magnitude, frequency, duration, or other characteristics of the
haptic effect from a memory 609 coupled to local processor 608. The
haptic effects provide the user with a greater sense of immersion
to the game as multiple modalities are being simultaneously
engaged, e.g., video, audio, and haptics.
FIG. 8 is a flow diagram for producing a haptic effect drive signal
from the host computer system, i.e., host computer 104 or tablet
computer 604, according to one embodiment of the present invention.
For sake of illustration, the flow diagram will be described with
reference to host computer 104 and controller 100. In an
embodiment, the functionality of the flow diagram of FIG. 8 is
implemented by software stored in the memory of host computer 104
and executed by processor of host computer 104, and/or memory 109
of controller 100 and executed by local processor 108 of controller
100. In other embodiments, the functionality may be performed by
hardware through the use of an application specific integrated
circuit ("ASIC"), a programmable gate array ("PGA"), a field
programmable gate array ("FPGA"), or any combination of hardware
and software.
At step 844, host computer 104 determines or detects a movement
event of trigger 118. More particularly, host computer 104
determines whether a movement event has occurred based on a
position signal sensed by position sensor 119 attached to trigger
118. As an example, a user may depress or press down on trigger 118
in order to fire a weapon in a shooting game example or to
accelerate a car in a racing video game example. One of ordinary
skill in the art would understand that movement events of trigger
118 are not limited to the examples stated above.
At step 846, host computer 104 then determines whether there is an
associated haptic effect with the movement event. For example, in a
shooting video game scenario, firing a weapon may have an
associated haptic effect such as a vibration, jolt or pop and
repeat firing may have associated haptic effects such as detents.
For another example, in a racing video game scenario, accelerating
or braking a car may have an associated haptic effect such as a
texture change and passing a milestone or marker may have an
associated haptic effect such as a vibration, jolt, pop, or
detent.
In order to determine whether there is an associated haptic effect
with the movement event, host computer 104 maps the movement event
onto a haptic effect signal for targeted actuator 120. More
particularly, host computer accesses a pre-defined mapping of
movement events and haptic effects. If it is determined that the
movement event has an associated haptic effect, then a haptic
signal will be sent. If it is determined that the movement event
does not have an associated haptic effect, then no haptic signal
will be sent.
At step 848, host computer 104 sends haptic control information to
controller 100 by generating and transmitting a haptic effect drive
signal based on the haptic effect signal. The transmission of the
haptic effect drive signal can be done either through wired or
wireless communication, as previously described.
FIG. 8 illustrates one method for producing a haptic effect drive
signal from the host computer system based on detection of a
movement event. However, in an embodiment hereof, detection of a
movement event is not required for producing a haptic effect drive
signal from the host computer system. Stated another way, the host
computer system may generate and transmit a haptic effect drive
signal to controller 100 without detection of a movement event. For
example, the host computer system may generate and transmit a
haptic effect drive signal to controller 100 based on events
relating to the computer controlled character or object (i.e., the
character's hand is bumped or hit by something in the video game
and a haptic effect is output to the user input element to signify
this event).
FIG. 9 is a flow diagram for receiving haptic information from a
host computer system and applying a haptic effect to a controller,
according to one embodiment of the present invention. In an
embodiment, the functionality of the flow diagram of FIG. 9 is
implemented by software stored in the memory of host component 104
and executed by the processor of host computer 104, and/or memory
109 of controller 100 and executed by local processor 108 of
controller 100. In other embodiments, the functionality may be
performed by hardware through the use of an application specific
integrated circuit ("ASIC"), a programmable gate array ("PGA"), a
field programmable gate array ("FPGA"), or any combination of
hardware and software.
At step 950, the haptic peripheral receives a signal from host
computer 104. Upon receiving the signal, local processor 108 then
determines whether the signal is a haptic signal at step 952 or
some other non-haptic related signal. If it is determined that the
signal is not a haptic signal, local processor 108 continues to
function without applying any haptic effect to the user and waits
to receive another signal from the host computer. If it is
determined that the signal is a haptic signal, local processor 108
then must determine to which component, i.e., housing 102 or a user
input element, the signal must be sent.
At step 954, local processor 108 must determine if the haptic
related signal is a general actuator haptic signal or a targeted
actuator haptic signal. If the signal calls for one of general
actuators 122, 124 to provide a general or rumble haptic effect to
the user, then local processor 108 will send the signal to the
appropriate general actuators 122, 124 at step 960 and then the
general actuator will output the instructed haptic effect at step
962. The haptic effects that are output by the general actuator can
include but are not limited to varying degrees of vibrations or
other types of haptic effects. As an illustrative example, if a
user is controlling a character or some other graphical object and
then encounters a collision in the virtual environment, the
associated haptic effect might be a vibration. In this case, local
processor 108 receives a signal indicating that housing 102 of
controller 100 should vibrate. As a result, local processor 108
sends the signal to the appropriate actuator 122, 124 to provide
the appropriate haptic effect, which in this example is a
vibration.
However, if the signal calls for one of the targeted actuators 112,
116, 120 to output a targeted haptic effect to button 110, joystick
114, trigger 118, respectively, then local processor 108 will send
the signal to the targeted actuator at step 956 and then the
targeted actuator will output the instructed haptic effect at step
958. The haptic effects that are output by the targeted actuator
can include but are not limited to varying degrees of vibrations,
varying degrees of detents, or other types of haptic effects.
In determining the type of haptic effects to be executed and
provided to the user, high level haptic parameters or streaming
values are generated in the software code and sent to a haptic
engine (not shown) where they are processed and the appropriate
voltage levels are generated for the actuators. This allows the
controller to provide the appropriate haptic feedback to the user
and vary the amount or type of haptic feedback through the
different voltage levels that are generated for the actuators. In
addition, the gaming software and the haptic software can reside on
the same processor or on multiple processors.
While various embodiments according to the present invention have
been described above, it should be understood that they have been
presented by way of illustration and example only, and not
limitation. It will be apparent to persons skilled in the relevant
art that various changes in form and detail can be made therein
without departing from the spirit and scope of the invention. For
example, although described for use in conjunction with controllers
having general or rumble actuators, it will be understood by those
of ordinary skill in the art that targeted actuators or motors as
described herein for outputting targeted or directed haptic effects
to user input elements may be used in controllers that do not
include general or rumble actuators for outputting haptic effects
to the housing of the controller. Thus, the breadth and scope of
the present invention should not be limited by any of the
above-described exemplary embodiments, but should be defined only
in accordance with the appended claims and their equivalents. It
will also be understood that each feature of each embodiment
discussed herein, and of each reference cited herein, can be used
in combination with the features of any other embodiment. All
patents and publications discussed herein are incorporated by
reference herein in their entirety.
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